Title: ART path planning method based on the 3D steering angle weighted A-star algorithm

Authors: Jiaqi Wang; Ning Zhao; Chao Mi

Addresses: Shanghai Maritime University, 1550 Haigang Avenue, Pudong New Area, Shanghai, China ' Shanghai Maritime University, 1550 Haigang Avenue, Pudong New Area, Shanghai, China ' Shanghai Maritime University, 1550 Haigang Avenue, Pudong New Area, Shanghai, China

Abstract: Automated Container Terminals (ACTs) have become vital in modern global supply chains, offering efficient container handling. Path planning for Artificial Intelligence Robot of Transportation (ART) poses challenges. This paper proposes a multi-ART path planning algorithm that reduces energy consumption. It introduces an eight-node searching method to the traditional A-star algorithm, minimising ART turning tendency. Additionally, a steering angle cost function is incorporated to further reduce turning. This algorithm improves energy control, ART running time, and port operation efficiency. Most path planning algorithms focus on two-dimensional maps with x- and y-coordinates. This study proposes a spatial-temporal ART path model and a collision-free path planning solution for multi-ART collaboration. Compared to the traditional A-star algorithm with three conflicts, the proposed algorithm reduces planned path length by 18.0% and eliminates conflicts. Simulation results on Section C of Tianjin Port, a Chinese ACT, validate the algorithm's effectiveness.

Keywords: ART; A-star algorithm; dead zone optimisation; steering angle cost function; 3D conflict-free path planning.

DOI: 10.1504/IJVICS.2024.139778

International Journal of Vehicle Information and Communication Systems, 2024 Vol.9 No.3, pp.256 - 275

Received: 14 Mar 2023
Accepted: 26 Jul 2023
Published online: 05 Jul 2024 *

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